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SpectacularAI / HybVIO

HybVIO visual-inertial odometry and SLAM system
https://arxiv.org/abs/2106.11857
GNU General Public License v3.0
450 stars 92 forks source link

Ros interface #7

Closed poudyalbot closed 2 years ago

poudyalbot commented 2 years ago

Res sir, If i want to implement a ros interface where i can use it with oak d lite how can i achieve this how should i start. Thank you

oseiskar commented 2 years ago

Hello! This codebase will not work on OAK-D-Lite directly, because that device does not have an IMU sensor. You would need to use an external IMU and manually synchronize that with the OAK-D-Lite camera clock.

For an easier option, consider using an OAK-D (not Lite) and the Spectacular AI SDK, which supports that out of the box (see https://github.com/SpectacularAI/sdk-examples/tree/main/python/oak)